{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,24]],"date-time":"2025-10-24T08:05:44Z","timestamp":1761293144953,"version":"3.38.0"},"reference-count":29,"publisher":"SAGE Publications","issue":"7","license":[{"start":{"date-parts":[[2014,5,8]],"date-time":"2014-05-08T00:00:00Z","timestamp":1399507200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering"],"published-print":{"date-parts":[[2014,8]]},"abstract":"<jats:p> In this article, image-based visual servoing control of an underactuated unmanned aerial vehicle is considered for the three-dimensional translational motion. Taking into account the low quality of accelerometers\u2019 data, the main objective of this article is to only use information of rate gyroscopes and a camera, as the sensor suite, in order to design an image-based visual servoing controller. Kinematics and dynamics of the unmanned aerial vehicle are expressed in terms of visual information, which make it possible to design dynamic image-based visual servoing controllers without using linear velocity information obtained from accelerometers. Image features are selected through perspective image moments of a flat target plane in which no geometric information is required, and therefore, the approach can be applied in unknown environments. Two output feedback controllers that deal with uncertainties in dynamics of the system related to the motion of the target and also unknown depth information of the image are proposed using a linear observer. Stability analysis guarantees that the errors of the system remain uniformly ultimately bounded during a tracking mission and converge to 0 when the target is stationary. Simulation results are presented to validate the designed controllers. <\/jats:p>","DOI":"10.1177\/0959651814530698","type":"journal-article","created":{"date-parts":[[2014,5,10]],"date-time":"2014-05-10T03:20:59Z","timestamp":1399692059000},"page":"435-448","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":17,"title":["Output feedback image-based visual servoing control of an underactuated unmanned aerial vehicle"],"prefix":"10.1177","volume":"228","author":[{"given":"Hamed","family":"Jabbari Asl","sequence":"first","affiliation":[{"name":"Department of Electrical Engineering, Iran University of Science and Technology, Tehran, Iran"}]},{"given":"Giuseppe","family":"Oriolo","sequence":"additional","affiliation":[{"name":"Dipartimento di Ingegneria Informatica, Automatica e Gestionale, Sapienza University of Rome, Rome, Italy"}]},{"given":"Hossein","family":"Bolandi","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering, Iran University of Science and Technology, Tehran, Iran"}]}],"member":"179","published-online":{"date-parts":[[2014,5,8]]},"reference":[{"key":"bibr1-0959651814530698","doi-asserted-by":"publisher","DOI":"10.1111\/j.1934-6093.1999.tb00014.x"},{"first-page":"35","volume-title":"Proceedings of the 2010 IEEE international conference on robotics and automation","author":"Mondragon I","key":"bibr2-0959651814530698"},{"key":"bibr3-0959651814530698","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-008-9304-8"},{"first-page":"971","volume-title":"Proceedings of the 2012 IEEE international conference on robotics and automation","author":"Lee D","key":"bibr4-0959651814530698"},{"key":"bibr5-0959651814530698","doi-asserted-by":"publisher","DOI":"10.1109\/TRA.2002.999647"},{"first-page":"5253","volume-title":"Proceedings of the 2009 American control 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